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2024 IEEE International Conference on Real-Time Computing and robotics, RCAR 2024

作者： Yu, Guanfeng Zhang, Han Wang, Zehao Wang, Jingchuan Shanghai Jiao Tong University Institute of Medical Robotics Department of Automation China Ministry of Education of China Key Laboratory of System Control and Information Processing China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9798350372601

The paper introduces a Koopman bilinear model predictive control (KBMPC) as a local planner for smart wheelchair systems. This approach leverages the Koopman Operator to streamline the nonlinear terms in MPC, aiming to achieve superior real-time performance. In particular, we employ the Extended Dynamic Mode Decomposition (EDMD) method to approximate the infinite dimensional Koopman operator. To tackle the challenge of designing lifting functions, we systematically utilize the derivatives of known nonlinear structures to methodically derive lifting functions. This systematic approach facilitates the identification of a precise bilinear model. Next, we formulate the corresponding Koopman bilinear MPC problem. Finally, an iterative algorithm is employed to efficiently solve the KBMPC problem. This method linearizes the bilinear model around estimations and iteratively solves the resulting quadratic programming problem to refine estimations. This allows KBMPC to function as a real-time local planner for smart wheelchairs. The prediction of nonlinear terms shows that the identified Koopman bilinear model increases the prediction accuracy. Furthermore, experiments demonstrate the advantages of the designed KBMPC local planner, highlighting its superior real-time performance and predictive capabilities. © 2024 IEEE.

关键词： Iterative methods

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A Rigid-Flexible Coupling Recursive Formulation for Dynamic Modeling of Biped Robots 16th

A Rigid-Flexible Coupling Recursive Formulation for Dynamic...

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Tang, Lingling Liang, Dingkun Wang, Xin Xie, Anhuan Gu, Jason Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Laboratory Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China Department of Electrical and Computer Engineering Dalhousie University HalifaxNSB3H 4R2 Canada

ISBN: (纸本)9789819964796

Biped robots are complex rigid-flexible coupling multibody systems that achieve the desired stable locomotion through foot-ground interactions. In the recent bio-inspired structure designs for biped robots, flexible parts are usually adopted to absorb the foot-ground impact and store the contact energy. However, most existing modeling formulations can only treat biped robots as rigid multibody systems, and the flexible parts are simply replaced by some linear or torsion springs. Since the deformations of the flexible parts have significant effects on the dynamic responses of the biped robot, the rigid multibody modeling method inevitably leads to a gap between the simulation model and the real prototype, and makes the sim-to-real transfer more difficult. To address this problem, a rigid-flexible coupling recursive modeling formulation is presented in this paper. In addition, the foot-ground interaction is modeled via a smooth normal contact model and a velocity-based Coulomb friction model. Finally, several numerical examples including inverse dynamics, kinematic closed-loop and frictional contact are given to verify the rigid-flexible coupling formulation. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Machine design

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Nonsmooth Dynamic Modeling of a Humanoid Robot with Parallel Mechanisms 16th

Nonsmooth Dynamic Modeling of a Humanoid Robot with Paral...

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16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Xiong, Jiaming Liang, Dingkun Wang, Xin Huang, Yongshan Xie, Anhuan Gu, Jason Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Lab Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China Department of Electrical and Computer Engineering Dalhousie University HalifaxNSB3H 4R2 Canada

ISBN: (纸本)9789819964918

This paper establishes a nonsmooth dynamic model for a humanoid robot with parallel mechanisms. Firstly, the constraint equations of the parallel mechanism are derived through kinematic analysis. By combining the links involved in closed-loop constraints into aggregate nodes, the topology of the robot can be equivalent to a tree structure. Equivalent physical quantities for the aggregate nodes are defined to unify their treatment with individual nodes during dynamic modeling. Subsequently, the contact and impact dynamics of the robot are modeled using constraint-based methods, with a frictional multiple impacts model employed for impacts. Due to the high degree of freedom of the robot, recursive methods are adopted to calculate the corresponding dynamic matrices. Finally, numerical examples are provided to illustrate the dynamic model of the robot. A comparison with the compliance-based methods of Simscape Multibody demonstrates that our dynamic model can reflect more realistic physical processes, providing a more accurate simulation environment for the motion control of the robot. The simulation of standing balance control is also performed based on our dynamic model. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2023.

关键词： Anthropomorphic robots

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A Novel Microdefect Imaging System for High-Reflective Material Surfaces

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IEEE Transactions on Instrumentation and Measurement 2025年 74卷

作者： He, Zhiyong Lin, Song Xiao, Yafeng Fang, Hao Sun, Lining Soochow University School of Mechatronic Engineering Department of Automation Engineering Suzhou215000 China Soochow University Robotics and Microsystems Research Center Suzhou215000 China Institute of Robotics School of Mechatronic Engineering Harbin Institute of Technology Harbin150000 China

Highly reflective materials, owing to their reflective characteristics, pose challenges in imaging microdefects under conventional lighting, resulting in a substantial number of missed detections. This article presents an imaging method tailored for microdefects on the surfaces of such materials. An investigation into the imaging mechanisms of microdefects under varying illumination conditions is conducted, leading to the proposal of an edge-light scanning technique. Initially, this technique enhances the contrast of defect imaging optically, yielding a sequence of images with high-contrast defects. Subsequently, a contrast-weighted image synthesis algorithm is introduced to effectively mitigate the interference caused by bright and dark stripe backgrounds. Experimental evaluations of defect detection based on different algorithms demonstrate that the proposed imaging method is applicable to defects of various sizes and significantly improves the detection accuracy of microdefects. © 1963-2012 IEEE.

关键词： Imaging Surface morphology Optical surface waves Optical imaging Defect detection Feature extraction Lighting Image edge detection Steel Optical reflection

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Design and implementation of intelligent LiDAR SLAM for autonomous mobile robots using evolutionary normal distributions transform

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Soft Computing 2024年第6期28卷 5321-5337页

作者： Huang, Hsu-Chih Xu, Sendren Sheng-Dong Lin, Hsien-Chan Xiao, Yuan-Sheng Chen, Yu-Xiang Department of Electrical Engineering National Ilan University Yilan260007 Taiwan Graduate Institute of Automation and Control National Taiwan University of Science and Technology Taipei106335 Taiwan Advanced Manufacturing Research Center National Taiwan University of Science and Technology Taipei106335 Taiwan

This paper presents a method that employs an evolutionary normal distributions transform (NDT) for simultaneous localization and mapping (SLAM) using light detection and ranging (LiDAR) for autonomous mobile robots. An adaptive inertia weight and two genetic operators were employed in the Taguchi-based whale optimization algorithm (WOA) to improve the search diversity and avoid local optima. NDT was used to model the environment of differential-drive mobile robots and WOA was applied to optimize the scan matching for the robotic SLAM problem. The NDT-WOA determines the SLAM pose estimation using sensed data from the physical world. A nonholonomic mobile robot was steered to achieve the NDT-WOA SLAM task with the derived robot kinematics and actuator dynamics. The proposed method was implemented in a TurtleBot3 Burger robotic development kit, which includes a single-board computer and an OpenCR control board. The Robot Operating System (ROS) was utilized to implement the evolutionary NDT-WOA SLAM system due to its flexibility, open source, and client library. Simulation and comparisons were conducted to illustrate the efficiency of the proposed NDT-WOA SLAM method compared to other SLAM paradigms. The experimental results show the effectiveness of the proposed evolutionary NDT-WOA SLAM for autonomous mobile robots. The results could have theoretical and practical significance for robotics research. © The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature 2023.

关键词： Mobile robots

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On Rapid Parallel Tuning of Controllers of a Swarm of MAVs – Distribution Strategies of the Updated Gains

On Rapid Parallel Tuning of Controllers of a Swarm of MAVs ...

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International Conference on Control, automation, robotics and Vision (ICARCV)

作者： Dariusz HorIa Wojciech Giernacki Vít Krátký Petr Štibinger Tomáš Báča Martin Saska Faculty of Automation Robotics and Electrical Engineering Institute of Robotics and Machine Intelligence Poznan University of Technology Poznan Poland Department of Cybernetics Faculty of Electrical Engineering Czech Technical University in Prague Prague Czechia

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

In this paper, we present a reliable, scalable, time deterministic, model-free procedure to tune swarms of Micro Aerial Vehicles (MAVs) using basic sensory data. Two approaches to taking advantage of parallel tuning are presented. First, the tuning with averaging of the results on the basis of performance indices reported from the swarm with identical gains to decrease the negative effect of the noise in the measurements. Second, the tuning with parallel testing of varying set of gains across the swarm to reduce the tuning time. The presented methods were evaluated both in simulation and real-world experiments. The achieved results show the ability of the proposed approach to improve the results of the tuning while decreasing the tuning time, ensuring at the same time a reliable tuning mechanism.

关键词： automation Distribution strategy Noise Gain measurement Robot sensing systems Data models Reliability Noise measurement Tuning Testing

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Transient Stability Analysis and Enhanced Control Strategy for Andronov-Hopf Oscillator Based Inverters

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IEEE Transactions on Energy Conversion 2025年第2期40卷 995-1008页

作者： Li, Li Song, Huihui Wang, Shitao Liu, Meng Gao, Song Li, Haoyu Guerrero, Josep M. Harbin Institute of Technology School of Electrical Engineering and Automation Harbin150001 China School of New Energy Weihai264200 China Technology College of State Grid Jinan250002 China Electric Power Research Institute State Grid Shandong Electric Power Company Jinan250000 China Aalborg University Department of Energy Technology Aalborg9220 Denmark

The Andronov-Hopf based virtual oscillator control (AHO) is a novel nonlinear grid-forming (GFM) control strategy that has better dynamic performance compared with droop and virtual synchronous generator. However, the grid voltage drop can affect the synchronization between the AHO inverter and the grid. In extreme cases, the system may lack a stable operating point, leading to transient stability issues. This paper establishes a dynamic power angle model that takes into account the voltage characteristics of the inverter. Subsequently, the influence of AHO parameters on transient stability is analysed under current unconstrained operation, and the impacts of current limitation strategy are discussed. On this basis, a transient stability enhanced control strategy for AHO inverters is proposed from the perspective of optimizing voltage characteristics and compensating power setpoints (OVCP). A small-signal model is then established to analyse the stability of the proposed strategy. Finally, simulations and hardware-in-the-loop simulations based on RT-BOX are conducted to verify the effectiveness of the proposed transient stability enhanced control strategy. © 1986-2012 IEEE.

关键词： Transient stability

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A Comprehensive SLAM Dataset for Indoor Exhibition Environments: Data Collection, Processing, and Comparative Evaluation

A Comprehensive SLAM Dataset for Indoor Exhibition Environme...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Yuan, Songyu Zhang, Jing Pan, Chen Zhang, Chunlong Wan, Minhong Zheng, Tao Gu, Jason Zhejiang Lab Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China Dalhousie University Department of Electrical and Computer Engineering HalifaxNSB3H 4R2 Canada

ISBN: (纸本)9798350325706

The field of Simultaneous Localization and Mapping(SLAM) has witnessed significant advancements in recent years. However, due to the difficulty of data obtains and ground-truth makes, there is a lack of real indoor scenarios datasets, especially the scenarios with less-texture, repeat-texture, extreme light condition, causing the slowly progress in indoor SLAM. In this paper, we present a dataset captured in a real indoor exhibition hall with diverse type of sensor data. Which contributes to diverse school of SLAM that using different sensors. We provide ground-truth 6DoF pose captured by motion capture devices, RGB-D data captured by a RealSense D455 camera. Laser-data captured by Ouster. And a high-resolution color point cloud captured by a laser scanner. This dataset offers three distinct sources of ground truth from real-world scenarios. It combines motion capture, ICP based laser localization, and visual localization methods to provide comprehensive and accurate reference data. This dataset is designed for evaluating positioning methods that employ various types of sensors, moving beyond a singular matrix-based evaluation approach. Besides, We show results of several state-of-the-art SLAM method in our datasets, illustrates the utility of our dataset and served as a reference for other researcher. We converge LiDAR-based SLAM with ground truth, made a good closure. An ensemble approach-based Visual SLAM, achieves results of odometry errors of 4% and loop closure position errors of 40 cm. Additionally, visual localization demonstrated an absolute position error of 21 cm using high-resolution point clouds. We highlight the potentials of our indoor datasets in LiDAR SLAM, RGB-D SLAM, and visual localization and combines method. The datasets are available at https://***/IMBAfarmer09/ExhibitionDataset © 2023 IEEE.

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A Joint Tracking System: Robot is Online to Access Surveillance Views

A Joint Tracking System: Robot is Online to Access Surveilla...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Lin, Zheyuan Ji, Shanshan Wang, Wen Qin, Mengjie Yang, Rong Wan, Minhong Gu, Jason Li, Te Zhang, Chunlong Research Institute of Interdisciplinary Innovation Zhejiang Laboratory Research Center for Intelligent Robotics Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China Dalhousie University Department of Electrical and Computer Engineering HalifaxNSB3H 4R2 Canada

ISBN: (纸本)9798350325706

The application of robots in social life, equipped with sensors and actuators and embedded with AI, assists people in all aspects. However, the first perspective of the robot horizon is heavily constrained, which weakens its performance. A joint tracking system is designed and built to deal with this, by integrating a surveillance system with the robot visual, providing a third perspective. This system takes one horizontal view and two top views from various directions as inputs and matches a person among the frames and in time sequence. In order to deal with the identity match with a huge visual feature gap, a special dataset is collected, simultaneously labeling identities from a mobile robot perspective and multiple indoor static surveillance monitors. The experiment shows that such match is a task worth exploring that can be better handled by training on our dataset than existing open source Re-identification (Re-id) datasets. Moreover, in the real scenario, this system improves the performance on issues like in and out of the robot's field of vision and heavy occlusion by people or objects. © 2023 IEEE.

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Analysis of harmonic transfer characteristics of a three-winding transformer containing winding 4

Analysis of harmonic transfer characteristics of a three-win...

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4th International Conference on Smart Grid and Energy engineering, SGEE 2023

作者： Ji, Yiming Wu, Fangjie Li, Fei Lu, Zhihua State Grid Economic & Technological Research Institute Dc Technology Consulting Department Beijing China Hefei University of Technology School of Electrical Engineering and Automation Hefei China

ISBN: (纸本)9798350359619

Multi-spectrum grid harmonic voltages are usually transmitted to the low-volatge bus connected to the delta winding through the three-winding transformer, and their prolonged action on the high-voltage shunt capacitor will affect its life and performance, but at present, there are few studies on the harmonic voltage transmission characteristics of the three-winding transformer containing delta windings. Therefore, this paper firstly establishes a single-phase harmonic equivalent model of a three-phase three-winding transformer containing delta winding and transformer parasitic capacitance based on the port equivalence principle, and derives the harmonic voltage transfer function between the high and low voltage side of a three-winding transformer based on the proposed equivalent model. The correctness of the harmonic voltage transfer characteristics is verified by comparing the data of the simulation model with the theoretical results. © 2023 IEEE.

关键词： Harmonic analysis

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